JP2008118443A - Flying body tracking and imaging apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a flying body tracking and imaging apparatus which has a widened imageable range by widening a rotatable range of an imaging camera. <P>SOLUTION: The flying body tracking and imaging apparatus is provided with the imaging camera for imaging a tracking target, a camera motor for rotating the imaging camera, a seeker main body to which the imaging camera is fixed rotatably and which rotates with respect to a rotation plane that is the same as or almost parallel with the rotation plane of the imaging camera, a seeker motor for rotating the seeker main body, and a motor rotation angle control part for controlling the camera motor and the seeker motor. The motor rotation angle control part operates the seeker motor and rotates the seeker main body when the tracking target is going to deviate from a field of view and when the camera motor reaches the limitation of a rotation range. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a tracking imaging apparatus including an imaging camera mounted on a flying object.

  For example, a flying object such as a missile flies by detecting the tracking target and controlling the attitude of the flying object. The flying object includes a tracking imaging device including an imaging device, and the tracking imaging device detects the tracking target by detecting an electromagnetic wave emitted by the tracking target.

  In a conventional flying object tracking imaging device, the imaging camera is fixed to the seeker body so as to be rotatable, but the seeker body is fixed to the flying object so as not to be rotatable. For example, FIG. 4 of Patent Document 1 describes an example of a conventional tracking imaging device. Thus, since the imaging camera body hits the pedestal portion that fixes the imaging camera, the rotation range of the imaging camera is limited.

  In another conventional example, as shown in FIG. 6, the imaging camera 501 hits the inner wall of the seeker main body 502 that fixes the imaging camera 501 so that the imaging camera 501 can be rotated, so that the rotation range of the imaging camera 501 is + θ to −θ. It was limited.

For this reason, the conventional tracking imaging apparatus has a problem in that the range in which the tracking target can be tracked is limited, and the tracking target is often out of the field of view and cannot be tracked in many cases.
Japanese Unexamined Patent Publication No. 2000-213898

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a flying object tracking imaging apparatus that expands the imaging range by expanding the rotatable range of the imaging camera.

  In order to achieve this object, according to the first aspect of the present invention, an imaging camera that images a tracking target, a camera motor that rotates the imaging camera, and the imaging camera are rotatably fixed, and the imaging camera rotates. A flying machine comprising: a seeker body that rotates on a rotation plane that is the same as or substantially parallel to the plane; a seeker motor that rotates the seeker body; and a motor rotation angle control unit that controls the camera motor and the seeker motor. Provided is a tracking imaging device for a gill body.

  According to the present invention, not only the imaging camera but also the seeker body that fixes the imaging camera so as to rotate is rotated to a rotation plane that is the same as or substantially parallel to the rotation plane of the imaging camera. It is possible to prevent the tracking target from spreading out of the field of view of the imaging camera.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing the configuration of the first embodiment. In the tracking imaging device of the present embodiment, an imaging camera 101 that detects an electromagnetic wave emitted by a tracking target, a camera motor 102 that rotates the imaging camera 101, and the imaging camera 101 are rotatably fixed. A seeker main body 103 that rotates to a rotation plane that is the same or substantially parallel to the moving plane, a seeker motor 104 that rotates the seeker main body 103, a seeker main body rotation mechanism 105 to which the seeker main body 103 is rotatably fixed, and a seeker A pedestal portion 106 that fixes the main body rotation mechanism 105 to the flying body main body 108, and a motor rotation angle control unit 107 that controls operations of the camera motor 102 and the seeker motor 104 are provided.

  The camera motor 102 is fixed to the seeker body 103. The seeker motor 104 is fixed to the seeker body rotation mechanism 105. The seeker main body rotation mechanism 105 can rotate in the direction of an arrow 111 perpendicular to the rotation direction of the seeker main body 103. The electromagnetic waves detected by the imaging camera 101 include radio waves, infrared light, and visible light. The camera motor 102 and seeker motor 104 may be stepping motors or DC motors. The camera motor 102 and the seeker motor 104 rotate the imaging camera 101 and the seeker main body 103 directly or through a speed reduction means such as a gear.

  The rotation plane of the imaging camera 101 is the same as or substantially parallel to the rotation plane of the seeker body 103. For this reason, the substantial rotation range of the imaging camera 101 is obtained by adding the rotation range of the seeker body 103 to the rotation range of the imaging camera 101.

  The motor rotation angle control unit 107 includes, for example, a processor such as a digital signal processor, a memory that stores programs executed by the processor and various data, a circuit that supplies power to the camera motor 102 and the seeker motor 104 in accordance with instructions from the processor, and the like. However, the present invention is not limited to this. A rotation angle sensor (not shown) for detecting a rotation angle is provided on the rotation axis of the camera motor 102 or the rotation axis of the imaging camera 101. For example, a rotary encoder or the like can be used for this sensor.

  FIG. 2 is a schematic diagram showing the configuration of the tracking imaging apparatus of the present embodiment. The tracking imaging device of the present embodiment includes an imaging camera 101, a tracking target position detection unit 202 that receives image data from the imaging camera 101 and detects the position of the tracking target in the imaging field of view, and the tracking target position detection unit 202 receives the tracking target. , The camera rotation control unit 107 that controls the camera motor 102 and the seeker motor 104 so that the tracking target is in the center of the visual field, the camera motor 102 that rotates the imaging camera 101, and the seeker main body 103. And a seeker motor 104 that rotates.

  The tracking target position detection unit 202 includes a processor such as a digital signal processor, a memory that stores programs executed by the processor and various data, and an input device that inputs a signal from the imaging camera 101.

  The tracking target position detection unit 202 can be provided integrally with the motor rotation angle control unit 107. In this case, the motor rotation angle control unit 107 includes one processor, and a program executed by the processor also performs calculation and determination processing of the position of the tracking target in the imaging visual field from the image data input from the imaging camera 101.

  Next, the operation of the tracking imaging device of this embodiment will be described. FIG. 3 is a diagram schematically illustrating the field of view captured by the imaging camera 101. An activation area 303 is set in advance at the edge of the field of view. When the tracking target 304 is in the center area 302 of the field of view other than the activation area 303, the motor rotation angle control unit 107 does not rotate the camera motor 102 and the seeker motor 104. When the tracking target 304 enters the activation area 303, the motor rotation angle control unit 107 rotates the camera motor 102 or the seeker motor 104.

  FIG. 4 is a flowchart of a seeker motor control process performed by the motor rotation angle control unit 107. Here, a flowchart in the case where the tracking target position detection unit 202 is provided integrally with the motor rotation angle control unit 107 is shown.

  In step S <b> 401, the motor rotation angle control unit 107 reads imaging data captured by the imaging camera 101. In step S402, the motor rotation angle control unit 107 determines whether the tracking target 304 is in the activation area. If the tracking target 304 is not in the activation area 303, the process returns to step S401. If it is in the activation area 303, the process proceeds to step S403.

  In step S403, the motor rotation angle control unit 107 reads the value detected by the rotation angle sensor and determines whether the camera motor 102 can rotate. If there is an allowance in the rotation range of the imaging camera 101, that is, if the camera motor 102 can be rotated, the process proceeds to step S404, and the camera motor 102 is rotated in the direction in which the tracking target 304 comes to the center region 302 of the visual field. . If there is no allowance in the rotation range of the imaging camera 101, that is, if the camera motor 102 cannot be rotated, the process proceeds to step S405, and the seeker motor 104 is rotated in the direction in which the tracking target 304 comes to the center region 302 of the visual field. .

  When the tracking target position detection unit 202 is provided as a device different from the motor rotation angle control unit 107, the tracking target position detection unit 202 performs step S401 and step S402, and the processing result is represented by the motor rotation angle. Output to the control unit 107.

  As described above, the tracking imaging apparatus of the present embodiment fixes the imaging camera 101 to the seeker body 103 so as to be rotatable, and the seeker body 103 is a rotation plane that is the same as or substantially parallel to the rotation plane of the imaging camera 101. It was made possible to rotate. For this reason, it is possible to prevent the tracking target from deviating from the field of view by extending the imaging range to the range of + σ to −σ, which is wider than the rotatable range of the imaging camera 101 + θ to −θ.

  Next, a second embodiment will be described. In the present embodiment, a pulley 110 that rotates the seeker body 103 is used so that a motor is not installed in the seeker body rotation mechanism 105. Thereby, the structure of the seeker main body rotation mechanism 105 can be simplified.

  FIG. 5 is a schematic diagram showing the configuration of the second embodiment. In the tracking imaging device of the present embodiment, an imaging camera 101 that detects an electromagnetic wave emitted by a tracking target, a camera motor 102 that rotates the imaging camera 101, and the imaging camera 101 are rotatably fixed. A seeker body 103 that rotates to a rotation plane that is the same or substantially parallel to the moving plane, a pulley 110 that rotates the seeker body 103, a seeker body rotation mechanism 105 to which the seeker body 103 is rotatably fixed, and a seeker A pedestal portion 106 that fixes the main body rotation mechanism 105 to the flying body main body 108, a pulley motor 109 that is attached to the pedestal portion 106 that drives the pulley 110, and a motor motor that controls the operation of the camera motor 102 and the pulley motor 109. A moving angle control unit 107.

  The camera motor 102 is fixed to the seeker body 103. The pulley motor 109 is fixed to the pedestal portion 106. The seeker main body rotation mechanism 105 can rotate in the direction of an arrow 111 perpendicular to the rotation direction of the seeker main body 103. The electromagnetic waves detected by the imaging camera 101 include radio waves, infrared light, and visible light. The camera motor 102 and the pulley motor 109 may be a stepping motor or a DC motor. The camera motor 102 rotates the imaging camera 101 directly or via a speed reduction unit such as a gear.

  The rotation plane of the imaging camera 101 is the same as or substantially parallel to the rotation plane of the seeker body 103. For this reason, the substantial rotation range of the imaging camera 101 is obtained by adding the rotation range of the seeker body 103 to the rotation range of the imaging camera 101.

  The motor rotation angle control unit 107 supplies power to the camera motor 102 and the pulley motor 109 in accordance with a processor such as a digital signal processor, a memory for storing programs executed by the processor and various data, and calculation results of the processor. Although it has a circuit etc., it is not restricted to this. A rotation angle sensor (not shown) for detecting a rotation angle is provided on the rotation axis of the camera motor 102 or the rotation axis of the imaging camera 101. For example, a rotary encoder or the like can be used for this sensor.

  The configuration of the tracking imaging device is the same as that of the first embodiment except that the seeker motor 104 is replaced with a pulley motor 109. That is, the tracking imaging device of the present embodiment includes the imaging camera 101, the tracking target position detection unit 202 that receives the image data from the imaging camera 101 and detects the position of the tracking target in the imaging field of view, and the tracking target position detection unit 202. The position information of the tracking target is input, the motor rotation control unit 107 that controls the camera motor 102 and the seeker motor 104 so that the tracking target is in the center of the visual field, the camera motor 102 that rotates the imaging camera 101, and the seeker. A pulley motor 109 that rotates the main body 103 is provided.

  The tracking target position detection unit 202 includes a processor such as a digital signal processor, a memory that stores programs executed by the processor and various data, and an input device that inputs a signal from the imaging camera 101.

  The tracking target position detection unit 202 can be provided integrally with the motor rotation angle control unit 107. In this case, the motor rotation angle control unit 107 includes one processor, and a program executed by the processor also performs calculation and determination processing of the position of the tracking target in the imaging visual field from the image data input from the imaging camera 101.

  Next, the operation of the tracking imaging device of this embodiment will be described. Also in the present embodiment, similarly to the first embodiment, the activation area 303 is set in advance at the edge of the visual field. When the tracking target 304 is in the center region 302 of the visual field, the motor rotation angle control unit 107 does not rotate the camera motor 102 and the pulley motor 109. When the tracking target 304 enters the activation area 303, the motor rotation angle control unit 107 rotates the camera motor 102 or the pulley motor 109.

  The flowchart of pulley motor control performed by the motor rotation angle control unit 107 is the same as that obtained by replacing the seeker motor in FIG. 3 with a pulley motor. A flowchart when the tracking target position detection unit 202 replaced with the motor rotation angle control unit 107 is integrated with the motor rotation angle control unit 107 will be described below.

  In step S <b> 401, the motor rotation angle control unit 107 reads imaging data captured by the imaging camera 101.

  In step S402, the motor rotation angle control unit 107 determines whether the tracking target 304 is in the activation area. If the tracking target 304 is not in the activation area 303, the process returns to step S401. If it is in the activation area 303, the process proceeds to step S403.

  In step S403, the motor rotation angle control unit 107 reads the value detected by the rotation angle sensor and determines whether the camera motor 102 can rotate. If there is an allowance in the rotation range of the imaging camera 101, that is, if the camera motor 102 can be rotated, the process proceeds to step S404, and the camera motor 102 is rotated in the direction in which the tracking target 304 comes to the center region 302 of the visual field. . If the rotation range of the imaging camera 101 is not sufficient, that is, if the camera motor 102 cannot be rotated, the process proceeds to step S405, and the pulley motor 109 is rotated in the direction in which the tracking target 304 comes to the center region 302 of the visual field. Let

  When the tracking target position detection unit 202 is provided as a device different from the motor rotation angle control unit 107, the tracking target position detection unit 202 performs step S401 and step S402, and the processing result is represented by the motor rotation angle. Output to the control unit 107.

  As described above, in the tracking imaging device of this embodiment, the pulley motor 109 rotates the seeker main body 103 via the pulley 110, and the pulley motor 109 is provided on the pedestal portion 106. For this reason, it is possible to simplify the structure of the seeker main body rotation mechanism 105 and to reduce the number of assembling operations.

  Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

It is a schematic diagram showing the structure of 1st Embodiment. It is a schematic diagram showing the structure of a tracking imaging device. It is the figure which represented typically the visual field which the imaging camera imaged. 5 is a flowchart of a seeker motor control process performed by a motor rotation angle control unit 107. It is a schematic diagram showing the structure of 2nd Embodiment. It is a schematic diagram showing the structure of the conventional tracking imaging device.

Explanation of symbols

101: an imaging camera,
102: Camera motor,
103: Seeker body,
104: Seeker motor,
105: Seeker body rotation mechanism,
106: pedestal,
107: Motor rotation angle control unit,
108: Flying body
109: pulley motor,
110: Pulley.

Claims (4)

An imaging camera for imaging the tracking target;
A camera motor for rotating the imaging camera;
A seeker body that is rotatably fixed to the imaging camera and rotates to a rotation plane that is the same as or substantially parallel to the rotation plane of the imaging camera;
A seeker motor for rotating the seeker body;
A motor rotation angle control unit for controlling the camera motor and the seeker motor;
An imaging device for tracking a flying object, comprising: The tracking imaging device includes a tracking target position detection unit that detects the position of the tracking target in the imaging field of view,
When the tracking target position detection unit detects that the tracking target has entered a predetermined region of the field of view of the imaging camera,
2. The flying object tracking imaging apparatus according to claim 1, wherein the motor rotation angle control unit controls the seeker motor so as to move the tracking target toward a center of the visual field. An imaging camera for imaging the tracking target;
A camera motor for rotating the imaging camera;
A seeker body that is rotatably fixed to the imaging camera and rotates to a rotation plane that is the same as or substantially parallel to the rotation plane of the imaging camera;
A pulley for rotating the seeker body;
A pulley motor for driving the pulley;
A motor rotation angle control unit for controlling the camera motor and the pulley motor;
An imaging device for tracking a flying object, comprising: The tracking imaging device includes a tracking target position detection unit that detects the position of the tracking target in the imaging field of view,
When the tracking target position detection unit detects that the tracking target has entered a predetermined region of the field of view of the imaging camera,
4. The flying object tracking imaging apparatus according to claim 3, wherein the pulley motor is controlled to move the tracking target toward a center of a visual field of the imaging camera.

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